创建工作空间:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make
sudo gedit ~/.bashrc (要在打开的文件中添加工作空间的位置,例如:source ~/rosone/devel/setup.bash)
source ~/.bashrc
安装包的依赖:
roscd package_name
rosdep install package_name
创建一个包:(写法类似,具体要看情况变化)
$ cd %YOUR_CATKIN_WORKSPACE_HOME%/src
$ catkin_create_pkg learning_tf tf roscpp rospy turtlesim
$ cd %YOUR_CATKIN_WORKSPACE_HOME%/
$ catkin_make
$ source ./devel/setup.bash
运行节点命令:
文件结构:
工作空间 /devel/lib下存放可执行文件
原来 source devel/setup.bash
source 命令只在当前窗口下生效